Unable to identify any set of controllers that can actuate the specified joints

asked 2019-01-12 05:54:30 -0500

iMatch gravatar image

updated 2019-01-12 05:55:22 -0500

I have control the iiwa by moveit in rviz, and it works in rviz, but can not show in Gazebo, the error message is showed as follow,

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    [ INFO] [1547293268.339276954, 23.518000000]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds.
    Check clock synchronization if your are running ROS across multiple machines!
    [ WARN] [1547293268.339373690, 23.518000000]: Failed to fetch current robot state.
    [ INFO] [1547293268.339548743, 23.518000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
    QObject::connect: Cannot queue arguments of type 'QVector<int>'
    (Make sure 'QVector<int>' is registered using qRegisterMetaType().)
    QObject::connect: Cannot queue arguments of type 'QVector<int>'
    (Make sure 'QVector<int>' is registered using qRegisterMetaType().)
    [ INFO] [1547293268.341562317, 23.520000000]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
    [ INFO] [1547293268.342075173, 23.521000000]: RRTConnect: Starting planning with 1 states already in datastructure
    [ INFO] [1547293268.383662319, 23.562000000]: RRTConnect: Created 5 states (2 start + 3 goal)
    [ INFO] [1547293268.383735127, 23.562000000]: Solution found in 0.041800 seconds
    [ INFO] [1547293268.390886802, 23.570000000]: SimpleSetup: Path simplification took 0.006992 seconds and changed from 4 to 2 states
    [ INFO] [1547293269.394815726, 24.570000000]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds.
    Check clock synchronization if your are running ROS across multiple machines!
    [ WARN] [1547293269.394890310, 24.570000000]: Failed to fetch current robot state.
    [ INFO] [1547293269.395047260, 24.570000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
    [ INFO] [1547293269.395321343, 24.570000000]: Planning attempt 1 of at most 1
    [ INFO] [1547293269.396032450, 24.570000000]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
    [ INFO] [1547293269.396274323, 24.570000000]: RRTConnect: Starting planning with 1 states already in datastructure
    [ INFO] [1547293269.437613121, 24.613000000]: RRTConnect: Created 5 states (2 start + 3 goal)
    [ INFO] [1547293269.437685388, 24.613000000]: Solution found in 0.041488 seconds
    [ INFO] [1547293269.443975489, 24.619000000]: SimpleSetup: Path simplification took 0.006217 seconds and changed from 4 to 2 states
    [ INFO] [1547293269.445294390, 24.620000000]: Returned 0 controllers in list
    [ERROR] [1547293269.445359906, 24.620000000]: Unable to identify any set of controllers that can actuate the specified joints: [ iiwa_joint_1 iiwa_joint_2 iiwa_joint_3 iiwa_joint_4 iiwa_joint_5 iiwa_joint_6 iiwa_joint_7 ]
    [ERROR] [1547293269.445406116, 24.620000000]: Known controllers and their joints:

    [ERROR] [1547293269.445468464, 24.621000000]: Apparently trajectory initialization failed

How can I fix it?? Is that the problem by launch file?

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